Pose graph optimization on Torus n=5000, m=9048
1.21Errorchordal+gtsam
Evaluation results
| Method | Links | ||
|---|---|---|---|
| chordal+gtsamInitialization strategy=chordal relaxation2021.03 | 1.21 | 1.18 | |
| PyTorch+AutogradInitialization strategy=Riemannian gradient descent2021.03 | 1.21 | 17.2 | |
| OursInitialization strategy=Riemannian gradient descent2021.03 | 1.21 | 1.17 | |
| gradient+gtsamInitialization strategy=Riemannian gradient descent2021.03 | 2.81 | 20.2 | |
| gtsamInitialization strategy=None2021.03 | 4.71 | — | |
| g2oInitialization strategy=None2021.03 | 6.04 | — |